CN110812019B

CN110812019B - Intelligent wheelchair based on multi-mode control

Info

Publication number: CN110812019B
Application number: CN201911076883.3A
Authority: CN
Inventors: 张强; 古凯; 杨卫东; 苏宏伦
Original assignee: Sichuan Rehabilitation Aids Technical Service Center
Current assignee: Sichuan Rehabilitation Aids Technical Service Center
Priority date: 2019-11-06
Filing date: 2019-11-06
Publication date: 2021-06-04
Anticipated expiration: 2039-11-06
Also published as: CN110812019A

Abstract

The invention discloses an intelligent wheelchair based on multi-mode control, which comprises a wheelchair body, an embedded control system, a voice input device, an image acquisition device, a manual key-in device and a driving device, wherein a rotary adjusting type support arm is arranged on one armrest of the wheelchair body, the voice input device and the image acquisition device are both arranged on the rotary adjusting type support arm, the embedded control system is positioned on the wheelchair body below one side of the rotary adjusting type support arm, and a wire bundling device for connecting wires of the voice input device and the image acquisition device is arranged on the wheelchair body between the embedded control system and the rotary adjusting type support arm. According to the invention, the rotary adjusting type support arm is arranged, the information acquisition parts of the voice input device and the image acquisition device are arranged on the rotary adjusting type support arm, and the rotary adjusting type support arm is arranged on the chair armrest, so that the information acquisition is convenient, and the position of the upper arm can be timely adjusted, so that the interference or influence on the movement of a user to the chair is avoided.

Description

Intelligent wheelchair based on multi-mode control

Technical Field

The invention relates to the field of rehabilitation or auxiliary appliances, in particular to an intelligent wheelchair based on multi-mode control.

Background

In order to meet the use requirements or use experiences of disabled people, the emergence and mature application of intelligent wheelchairs have become necessary. At present, an embedded multi-mode man-machine interaction intelligent wheelchair is not only successfully published, but also widely applied and served to corresponding groups, and the embedded multi-mode man-machine interaction intelligent wheelchair with multiple functions of manual control, voice control, visual autonomous navigation and the like is designed and developed on the basis of an embedded system (SPCE061A single chip microcomputer). Although the multi-mode intelligent wheelchair is mature on the soft control technology of the system day by day, the function realization depends on corresponding hardware execution, and most of the existing multi-mode automatic control wheelchairs have certain defects in hardware installation planning, for example, a manual control part and a device needing to collect voice or image information are respectively and separately installed on each part (a chair, a foot rest, an armrest, a backrest and the like) of the wheelchair, the situation of inconvenient operation can occur in some positions, some of the positions are due to the fact that facial information and voice information of a user need to be collected, the installation position of the wheelchair can influence the user to climb or move to a wheelchair cushion, the difficulty of the user to move to the chair is aggravated under the situation that the user is inconvenient to move, and the use experience is poor. In addition, the corresponding hardware installation positions are relatively dispersed, so that the corresponding connecting wires are relatively dispersed and difficult to manage.

Disclosure of Invention

The invention aims to overcome the problems in the prior art and provide an intelligent wheelchair based on multi-modal control.

The purpose of the invention is realized by the following technical scheme: an intelligent wheelchair based on multi-modal control comprises a wheelchair body, an embedded control system, a voice input device, an image acquisition device, a manual typing device and a driving device, wherein the embedded control system, the voice input device, the image acquisition device, the manual typing device and the driving device are arranged on the wheelchair body, the voice input device, the image acquisition device, the manual key input device and the driving device are all connected with the embedded control system, a rotary adjusting type support arm is arranged on one of the chair armrests of the wheelchair body, the voice input device and the image acquisition device are both arranged on the rotary adjusting type support arm, the manual key-in device is arranged on the other seat armrest of the wheelchair body, the embedded control system is positioned on the wheelchair body below one side of the rotary adjusting support arm, and a wire harness used for connecting a voice input device and an image acquisition device with a wire is arranged on the wheelchair body between the embedded control system and the rotary adjusting support arm.

Furthermore, the rotary adjusting type support arm comprises a main driving part, a sliding part, an upper arm and a lower arm which are horizontally arranged and are L-shaped, the lower arm is fixed on the seat armrest, one ends of the upper arm and the lower arm are connected with each other and can horizontally rotate relatively, mounting cavities are arranged in the upper arm and the lower arm, the mounting cavity of the upper arm is communicated with the mounting cavity of the lower arm, the driving part comprises an electric telescopic rod, a sliding block, a chain and a sliding rod, the sliding block is in sliding fit in the mounting cavity of the lower arm, the sliding rod is in sliding fit in the mounting cavity of the upper arm, one end of the chain is located in the mounting cavity of the upper arm and is fixedly connected with one end of the sliding rod, the other end of the chain is located in the mounting cavity of the lower arm and is fixedly connected with one end of the sliding block, chain wheels used for guiding and driving the chain are, the upper arm upper surface processing has the spout rather than the installation cavity intercommunication, the slider slides and sets up in the spout, and the slider upper surface is connected with rotatable base plate, voice input device and image acquisition device are all installed on the base plate, slider lower fixed surface has the clamp plate, the installation cavity internal fixation of upper arm has the baffle, slide bar one end and clamp plate fixed connection, and the baffle is passed in the other end activity, be provided with the compression spring that the cover was established on the slide bar between clamp plate and the baffle.

Further, the spout is upper and lower double-deck slot body formula structure, the slider includes main shaft and two slide bearings of suit on main shaft, and two slide bearings are arranged in the two-layer cell body of spout respectively, and the slide bearing of below and the cell wall rolling contact of lower floor's cell body, the slide bearing of top and the cell wall contactless of upper cell body, the bolt fixed connection is passed through with the up end of top bearing to the base plate lower surface, the lower extreme at the main shaft is fixed to the clamp plate, the baffle is located the below department that the spout is close to sprocket one side.

Further, the tip shaping that underarm and upper arm are connected has the outer barrel of big footpath, and the internal tight rolling bearing that has inlayed of big footpath urceolus, the tip shaping that the upper arm is connected with underarm has the interior barrel of path, and the tip outer wall of the interior barrel of path and rolling bearing's hole transition fit or interference fit, and the middle part outer wall shaping of the interior barrel of path has the sealed clamping ring that the round is used for sealing the rolling bearing terminal surface.

Further, processing has a magnetite groove on the lower terminal surface of sealed clamping ring, is provided with the magnet in the magnetite groove, processing has three caulking groove in the up end of the outer barrel of big footpath, all is provided with the metal block in the three caulking groove, and half circular arc evenly distributed is personally submitted at the upper end of the outer barrel of big footpath to three caulking groove.

Further, the buncher is located under the junction of the upper arm and the lower arm, and the buncher comprises a winding drum, an upper cover and a lower cover which are detachably connected to two ends of the winding drum respectively, the winding drum is fixed on the wheelchair body between the embedded control system and the rotary adjusting type support arm, spiral grooves matched with the connecting wires are machined in the inner wall of the winding drum, limiting holes for the connecting wires to pass through are machined in the upper cover and the lower cover, and pull rings are fixed in the upper cover and the lower cover.

According to the invention, the rotary adjusting type support arm is arranged, the information acquisition parts of the voice input device and the image acquisition device are arranged on the rotary adjusting type support arm, and the rotary adjusting type support arm is arranged on the armrest of the chair, so that the information acquisition is convenient, the position of the upper arm can be timely adjusted, the interference or influence on the movement of a user to the chair is avoided, the upper arm can be continuously adjusted to be in a required state after the user is in place, the functions are diversified, and the use experience of the user is increased; simultaneously through setting up the buncher, can be in the same place the arrangement of the connecting wire that corresponds, avoid too the dispersion and cause and be difficult to manage or cause certain interference influence to the user.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a rotary adjustable arm according to the present invention;

FIG. 3 is a schematic view of the internal structure of the rotary adjustable support arm of the present invention;

FIG. 4 is a schematic view of another usage state of FIG. 3;

fig. 5 is a schematic view of the internal structure of the wire harness in the present invention.

The labels in the figure are: 1-a wheelchair body; 2-an embedded control system; 3-a drive device; 4-manual key input device; 5-an image acquisition device; 6-a voice input device; 7-a wire harness; 8-rotating adjusting type support arm; 71-take-up reel; 72-upper cover; 73-lower cover; 74-helical groove; 75-a pull ring; 81-lower arm; 82-upper arm; 83-electric telescopic rod; 84-a substrate; 811-lower arm crossbar; 812-a mounting cavity; 813-sliding block; 814-a sprocket; 815-a chain; 816-a rotational bearing; 817-metal block; 818-a magnet; 821-upper arm crossbar; 822-a mounting cavity; 823-slide bar; 824-a compression spring; 825-a separator; 826-a slide; 827-lower tank body; 828-upper trough body.

Detailed Description

As shown in fig. 1 to 5, the intelligent wheelchair based on multi-modal control provided in this embodiment includes a wheelchair body 1, and an embedded control system 2, a voice input device 6, an image capture device 5, a manual key input device 4, and a driving device 3 mounted on the wheelchair body 1, where the voice input device 6, the image capture device 5, the manual key input device 4, and the driving device 3 are all connected to the embedded control system 2 to implement multi-modal control. In this embodiment, the embedded control system 2, the voice input device 6, the image acquisition device 5, the manual key input device 4 and the driving device 3 all adopt existing mature products and technologies, and all mature parts are integrated on the wheelchair body 1 to form the multi-modal controlled intelligent wheelchair. This application focuses on improving on hardware construction and mounted position to improve humanized design and the use experience of present intelligent wheelchair, specifically, install on one of them armrest of wheelchair body 1 and transfer formula support arm 8 soon, voice input device 6 and image acquisition device 5 all install on transferring formula support arm 8 soon, transfer formula support arm 8 soon and can change its operating condition, so that accord with user's user demand. The manual key-in device 4 is arranged on the other seat armrest of the wheelchair body 1, so that the manual operation of a user can be facilitated, all key-in or manual control operations can be completed in the range of two hands, the design position is reasonable, and the influence of excessive interference on the movement of the user for getting on or off the wheelchair and the use experience are not influenced. In order to facilitate the bundling management of the corresponding connecting wires and prevent the connecting wires from being wound or wound on the wheelchair body 1 or a user, the embedded control system 2 is positioned on the wheelchair body 1 below one side of the rotary adjusting support arm 8, and the connecting wires of the manual key input device 4 vertically hang down and penetrate through the lower surface of the seat to be connected with the embedded control system 2. The connecting wires of the voice input device 6 and the image acquisition device 5 are combined into one bundle and the bundle is collected and arranged through a wire harness 7 arranged on the wheelchair body 1 between the embedded control system 2 and the rotary adjusting support arm 8.

In order to adapt to two modes of voice input and visual navigation, the position of the voice input device 6 and the position of the image acquisition device 5 need to be adjusted under the control of the corresponding modes, so that the rotary adjusting type support arm 8 is required to have multiple adjusting heart states so as to adapt to different use requirements. Specifically, the rotation-adjustable support arm 8 includes a main driving element, a sliding element 826, and an upper arm 82 and a lower arm 81 which are horizontally arranged, the lower arm 81 is fixed on the armrest on one side of the embedded control system 2, in this embodiment, the upper arm 82 and the lower arm 81 both adopt an L-shaped structure, the upper arm cross arm 821 and the lower arm cross arm 811 are parallel to each other and are both in a horizontal state, the vertical arm of the upper arm 82 and the vertical arm of the lower arm 81 are connected with each other and can rotate horizontally relative to each other, specifically, a large-diameter outer cylinder is formed at the end of the vertical arm of the lower arm 81, the large-diameter outer cylinder represents a cylinder with a diameter larger than that of the vertical arm of the lower arm 81, a rotation bearing 816 is tightly embedded (transition or interference fit) in the large-diameter outer cylinder, a small-diameter inner cylinder is formed at the end of the vertical arm of the upper arm 82, the end outer wall of the small-diameter inner cylinder is in transition or interference fit with, this configuration ensures that the upper arm 82 is free to rotate in the horizontal plane relative to the lower arm 81, providing a structural basis for the various adjustment states of the upper arm 82.

In order to realize the control function of changing the positions of the voice input device 6 and the image acquisition device 5, an installation cavity 822 matched with the shape of the upper arm 82 is arranged in the upper arm 82, an installation cavity 812 matched with the shape of the lower arm 81 is arranged in the lower arm 81, and the installation cavity 822 of the upper arm 82 is communicated with the installation cavity 812 of the lower arm 81. The driving piece comprises an electric telescopic rod 83, a sliding block 813, a chain 815 and a sliding rod 823, wherein the sliding block 813 is in sliding fit in a mounting cavity 812 of the lower arm 81, the sliding rod 823 is in sliding fit in a mounting cavity 822 of the upper arm 82, one end of the chain 815 is located in the mounting cavity 822 and is fixedly connected with one end of the sliding rod 823, the other end of the chain 815 is located in the mounting cavity 812 and is fixedly connected with one end of the sliding block 813, synchronous transmission of the sliding rod 823 and the sliding block 813 is achieved,

chain wheels

814 and 829 for guiding and driving the chain 815 are arranged in the mounting cavity 822 of the upper arm 82 and the mounting cavity 812 of the lower arm 81, and chain teeth of the

chain wheels

814 and 829 are mutually clamped with chain links of the chain 815 to achieve stable. The push rod of the electric telescopic rod 83 extends into the installation cavity 812 of the lower arm 81 and is fixedly connected with the sliding block 813, and the forward movement or the backward movement sliding of the sliding block 813 is controlled by controlling the extension or the retraction of the push rod of the electric telescopic rod 83.

The upper surface of the upper arm 82 is processed with a horizontal sliding groove communicated with the installation cavity 822, the sliding member 826 is slidably disposed in the sliding groove, and the upper surface of the sliding member 826 is connected with the rotatable base plate 84, in this embodiment, the sliding groove is of a double-layer groove structure, the sliding member 826 comprises a main shaft and two sliding bearings sleeved on the main shaft, the two sliding bearings are respectively located in the upper groove body 828 and the lower groove body 827 of the sliding groove, the lower sliding bearing is in rolling contact with the groove wall of the lower groove body 827 to achieve the sliding purpose, the upper sliding bearing is not in contact with the groove wall of the upper groove body 828, the upper end surface of the upper sliding bearing is processed with a plurality of screw holes, the lower surface of the base plate 84 is fixedly connected with the upper end surface of the upper bearing through a plurality of bolts, a vertical pressing plate is fixed on the lower surface of the, the clapboard 825 is positioned below one side of the sliding groove close to the chain wheel 829, one end of the sliding rod 823 is fixedly connected with the pressing plate, the other end of the sliding rod 823 movably penetrates through the clapboard 825, a compression spring 824 sleeved on the sliding rod 823 is arranged between the pressing plate and the clapboard 825, the voice input device 6 and the image acquisition device 5 are both installed on the substrate 84, when the sliding block 813 moves forwards, under the restoring force action of the compression spring 824, the sliding piece 826 moves along, so that the movement of one side of the substrate 84 is realized, when the sliding block 813 moves backwards, the sliding rod 823 is pulled by the chain 815 to move, the compression spring 824 is continuously compressed, and the movement of the other side of the substrate 84.

In order to arrange the connecting wires of the voice input device 6 and the image acquisition device 5 together, the wire harness 7 is located under the joint of the upper arm 82 and the lower arm 81, the wire harness 7 comprises a winding drum 71 and an upper cover 72 and a lower cover 73 which are respectively detachably connected to two ends of the winding drum 71, the detachable connection mode is preferably a clamping mode, bosses which are tightly matched with the inner hole wall of the winding drum 71 (in clearance fit) are formed on the inner sides of the upper cover 72 and the lower cover 73, and the detachable connection of the upper cover 72, the lower cover 73 and the winding drum 71 is realized by utilizing the mutual clamping of the bosses and the inner hole wall of the winding drum 71. The winding drum 71 is welded and fixed on the armrest support of the wheelchair body 1 between the embedded control system 2 and the rotary adjusting type support arm 8, a spiral groove 74 matched with the winding connecting wire is processed on the inner wall of the winding drum 71, limiting holes for the connecting wire to pass through are processed on the upper cover 72 and the lower cover 73, and pull rings 75 are fixed on the upper cover 72 and the lower cover 73 so as to be pulled out manually. A wiring cavity is processed in the substrate 84, connecting wires of the voice input device 6 and the image acquisition device 5 penetrate into the wiring cavity of the substrate 84 and penetrate out of the substrate 84, then are combined and wound into a bundle through an insulating rubber sleeve, the connecting wires which are combined into a bundle penetrate through a limiting hole of the upper cover 71 and are wound into a spiral coil shape through the spiral groove 74, and finally penetrate out of a limiting hole of the lower cover 73 and are connected to a control panel in the embedded control system 2.

Three states of use of the rotary adjustable arm 8 are illustrated: the first state is that the upper arm 82 is rotated to the same direction as the lower arm 81, so that the whole rotary adjusting support arm 8 is in a U-shaped arm structure, that is, as shown in fig. 2 or fig. 3, the space between the seat and the foot rest is opened, so that the user can move to the seat, at this time, the intelligent wheelchair can select a voice cut-in mode, control the electric telescopic rod 83 to extend out, and let the base plate 84 slide to a position close to the user, so that the voice input instruction of the user can be clearly received, thereby controlling the movement of the wheelchair; the second state is a state that the upper arm 82 rotates to the opposite direction of the lower arm 81, so that the whole rotary adjusting type support arm 8 is in a Z-shaped arm structure, namely as shown in fig. 4, the position of the base plate 84 is continuously adjusted, the image acquisition device 5 can acquire the image information of the upper half of the body of the user, so that the actions of turning the side of the user, lowering the head, some gesture commands and the like are judged, and finally the movement of the wheelchair is driven by comparing with the action of the storage warehouse; the third state is that the upper arm 82 is continuously rotated to a shape perpendicular to the lower arm 81, the whole upper arm 82 is arranged above the seat in a rail way, on one hand, a certain barrier protection is carried out on the user, on the other hand, the position of the base plate 84 is continuously adjusted, so that the image acquisition device 5 can acquire the image information of the whole face of the user (for the injured patient of the upper thoracic vertebra or the cervical vertebra, some side turning actions cannot be made), and the trend of the wheelchair is controlled according to facial expression judgment.

In order to enable the three states to be adjusted more smoothly, a magnet groove is processed on the lower end face of the sealing compression ring, a magnet 818 is arranged in the magnet groove, three embedded grooves are processed in the upper end face of the large-diameter outer cylinder body, metal blocks 817 are arranged in the three embedded grooves, and the three embedded grooves are evenly distributed in a semicircular arc shape on the upper end face of the large-diameter outer cylinder body, namely the radian of an arc formed by the three embedded grooves is 1.5 pi so as to adapt to the rotating angle of the upper arm 82 required by the three shapes. When the upper arm 82 needs to rotate from the form shown in fig. 3 to the form shown in fig. 4, the upper cover 72 is taken down, the upper arm 82 rotates 180 degrees, namely the magnet 818 rotates 180 degrees along with the rotation and then is magnetically connected with another metal block, the combined connecting lead of the voice input device 6 and the image acquisition device 5 rotates along with the rotation, the spiral ring layer at the uppermost layer in the winding drum 71 is slowly unwound and rotates to the position, and then the upper cover 72 is covered, so that the limiting hole limits the combined connecting lead to prevent the combined connecting lead from being continuously unwound. When the upper arm 82 and the lower arm 81 need to be adjusted to a third state vertical to each other, the upper cover 72 is also taken down, the upper arm 82 continues to rotate, the magnet 818 is magnetically connected with the last metal block after continuing to rotate for 90 degrees, after the upper cover 72 is rotated to the position, the connecting wires are prevented from continuing to be unwound, the spiral winding form of the winding drum 71 can prevent the connecting wires from being too scattered and inconvenient to manage on one hand, and on the other hand, the damage of the connection position due to long-term serious torsion caused by the rotation of the connecting wires while revolving when the upper arm 82 is rotated is avoided. When the upper arm 82 needs to be turned back to the home position, the upper cover 72 is opened, the upper arm 82 is turned to the home position firstly, and then the connecting lead is manually coiled for one circle and then the upper cover 72 is covered.

The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any modification and replacement based on the technical solution and inventive concept provided by the present invention should be covered within the scope of the present invention. It should be noted that structures or components illustrated in the drawings are not necessarily drawn to scale, and descriptions of well-known components and processing techniques and procedures are omitted to avoid unnecessarily limiting the invention.

Claims

1. The utility model provides an intelligence wheelchair based on multi-modal control, includes the wheelchair body and installs embedded control system, voice input device, image acquisition device, manual device and the drive arrangement of typing on the wheelchair body, voice input device, image acquisition device, manual device and the drive arrangement of typing all link to each other its characterized in that with embedded control system: a rotary adjusting type support arm is arranged on one of the chair armrests of the wheelchair body, the voice input device and the image acquisition device are both arranged on the rotary adjusting type support arm, the manual key input device is arranged on the other chair armrest of the wheelchair body, the embedded control system is positioned on the wheelchair body below one side of the rotary adjusting type support arm, and a wire bundling device for connecting wires of the voice input device and the image acquisition device is arranged on the wheelchair body between the embedded control system and the rotary adjusting type support arm;

the rotary adjusting type support arm comprises a main driving piece, a sliding piece, an upper arm and a lower arm which are horizontally arranged and are L-shaped, the lower arm is fixed on a seat armrest, one ends of the upper arm and the lower arm are connected with each other and can horizontally rotate relatively, mounting cavities are formed in the upper arm and the lower arm, the mounting cavities of the upper arm are communicated with the mounting cavities of the lower arm, the main driving piece comprises an electric telescopic rod, a sliding block, a chain and a sliding rod, the sliding block is in sliding fit in the mounting cavities of the lower arm, the sliding rod is in sliding fit in the mounting cavities of the upper arm, one end of the chain is located in the mounting cavity of the upper arm and is fixedly connected with one end of the sliding rod, the other end of the chain is located in the mounting cavity of the lower arm and is fixedly connected with one end of the sliding block, chain wheels used for guiding and driving the, the upper arm upper surface processing has the spout rather than the installation cavity intercommunication, the slider slides and sets up in the spout, and the slider upper surface is connected with rotatable base plate, voice input device and image acquisition device are all installed on the base plate, slider lower fixed surface has the clamp plate, the installation cavity internal fixation of upper arm has the baffle, slide bar one end and clamp plate fixed connection, and the baffle is passed in the other end activity, be provided with the compression spring that the cover was established on the slide bar between clamp plate and the baffle.

2. The intelligent wheelchair based on multi-modal control of claim 1, wherein: the spout is upper and lower double-deck slot body formula structure, the slider includes main shaft and two slide bearings of suit on main shaft, and two slide bearings are located the two-layer cell body of spout respectively, and the slide bearing of below and the cell wall rolling contact of lower floor's cell body, the slide bearing of top and the cell wall contactless of upper cell body, the bolt fixed connection is passed through with the up end of top bearing to the base plate lower surface, the lower extreme at the main shaft is fixed to the clamp plate, the baffle is located the below department that the spout is close to sprocket one side.

3. The intelligent wheelchair based on multi-modal control of claim 2, wherein: the tip shaping that underarm and upper arm are connected has the outer barrel of big footpath, and the internal tight rolling bearing that has inlayed of big footpath urceolus, the tip shaping that the upper arm is connected with underarm has interior barrel of path, and the tip outer wall of barrel and rolling bearing's hole transition fit or interference fit in the path, and the middle part outer wall shaping of barrel has the sealed clamping ring that the round is used for sealing the rolling bearing terminal surface in the path.

4. The intelligent wheelchair based on multi-modal control of claim 3, wherein: processing has a magnetite groove on the lower terminal surface of sealed clamping ring, and the magnetite inslot is provided with the magnet, processing has three caulking groove in the up end of the outer barrel of big footpath, all is provided with the metal block in the three caulking groove, and half circular arc evenly distributed is personally submitted at the upper end of the urceolus of big footpath to three caulking groove.

5. Intelligent wheelchair based on multi-modal control according to any of claims 1-3, characterized in that: the buncher is located under the junction of the upper arm and the lower arm, and the buncher comprises a winding drum and an upper cover and a lower cover which are detachably connected at two ends of the winding drum respectively, the winding drum is fixed on the wheelchair body between the embedded control system and the rotary adjusting type support arm, spiral grooves matched with the connecting wires are processed on the inner wall of the winding drum, limiting holes for the connecting wires to pass through are processed on the upper cover and the lower cover, and pull rings are fixed on the upper cover and the lower cover.